ES2764741T3 - Gear-assisted braking system with elliptical interface - Google Patents

Abstract

A brake module comprising: a brake for selectively controlling a braking action; an annular brake rotor (14) mating with the brake, the annular brake rotor including a gear face with a reaction gear (16); an input shaft (18) with an input gear (20) surrounding a shaft, the shaft extending through the annular brake rotor so that the input gear opposes the reaction gear (16); and an annular swash plate (22) trapped between the annular brake rotor (14) and the input shaft, with a first face having front teeth (30) partially meshing with the input gear, and with a second face having oscillating teeth (26) partially meshing with the reaction gear; wherein the rotation of the input shaft (18) causes the annular brake rotor and swash plate to rotate; and wherein a braking action by the brake reduces the speed of the annular brake rotor relative to the input shaft, thereby inducing a nutation of the annular swash plate (22) relative to the annular brake rotor and the shaft. input to dissipate rotating energy.

Description

DESCRIPTION

Gear-assisted braking system with elliptical interface

Countryside

This disclosure relates to braking. More specifically, the disclosed examples relate to systems and methods of decelerating a rotating object using an elliptical interface gear mechanism to dissipate rotational energy.

Background

Braking systems are essential for many machines. Friction brakes are commonly used, such as disc brakes or drum brakes. As stated in the name, friction brakes use friction to slow down rotational motion. A caliper, lever arm, or other mechanism forces a pad or shoe into friction contact with a rotating rotor or drum, converting rotational kinetic energy to thermal energy. Pads and pads are often short-lived components due to heat damage or wear and may require regular replacement.

Aircraft in particular demand high performance braking systems. Under adverse conditions, the heat generated by traditional braking systems can become unmanageable. Reduced thermal output can mean increased safety and a longer life for components. In addition, ensuring passenger safety encourages multiple redundancies in aircraft braking systems, while space and weight are very important in aircraft design. Combined, these make a lighter, more compact brake highly desirable.

The present disclosure also relates to elliptical interface gear mechanisms of the type known as a swing plate mechanism. Historically, oscillating plate mechanisms have seemed a promising route to a unit with high torque density. In an oscillating plate mechanism, one gear, for example, a rotor gear, is fed around another gear, for example, a stator gear. Surprisingly, the swing plate mechanisms can also provide a route to a compact brake, as will be understood in more detail below. Examples of existing swing plate mechanisms are disclosed in US Patent Publication Nos. US20140285072, US6431330 B1 and US20150015174. Older systems are disclosed in US2275827 and US3249776.

The disclosure made in this document is presented with respect to these and other considerations.

Summary

The present disclosure teaches the combination of a friction brake with an oscillating plate mechanism to provide a compact brake module. The friction brake is used to activate or deactivate the brake module, but most of the braking action is done using the new swing plate mechanism. The combination of the brake and the oscillating plate mechanism provides a gear-assisted braking system with an elliptical interface. The disclosed system may include an input shaft with a coupled input gear, an oscillating plate, a rotor with a reaction gear, and an actuated brake, or brake, mechanism. The input gear, swing plate, and rotor can be annular, and the input shaft can extend through each of the input gears, swing plate, and rotor. The input gear may be positioned in front of the reaction gear, and the swing plate caught between the input gear and the reaction gear.

The input shaft can define an axis of rotation, and the oscillating plate can have an oscillating axis positioned at a non-zero angle to the axis of rotation. A set of face teeth placed on one surface of the oscillating plate can partially mesh with the input gear, and a set of oscillating teeth on an opposite surface of the oscillating plate can partially mesh with the reaction gear. Rotation of the input shaft can thus cause rotation of the swashplate and rotor. The brake can be mounted on an external structure and coupled with the rotor. When actuated, the brake can slow the rotor relative to the input shaft. Rolling contact forces between the surfaces of the oscillating teeth and the reaction teeth can induce nutation in the oscillating plate, thereby dissipating the rotational energy.

The elements of the braking system described above function well as a module designed to interconnect so that one of those brake modules can be added to another such brake module. The input shaft can have two ends, a slot at one end and a mating slot at the other end. When two brake modules are aligned along a shared axis of rotation, the groove of a module can match the mating slot of the second module. This pairing can directly couple the two input shafts, so that rotation of the first input shaft can result in rotation of the second input shaft. The input shaft groove can also be paired with a vehicle wheel, so that the input shaft and wheel are directly coupled and aligned along a shared axis of rotation.

One method of operating an elliptical interface gear assisted braking system may include attaching a rotating object to an input gear so that the input gear is centered around a shared axis of rotation. The method may include engaging the input gear with a plurality of face teeth on an oscillating plate, and engaging an additional plurality of oscillating teeth on the oscillating plate with a reaction gear. The method may further include suspending the oscillating plate at a non-zero angle to the axis of rotation and placing the reaction gear on one side of a rotor. The method may include braking the rotor and therefore inducing the oscillating plate nutation.

The present disclosure provides various apparatus and methods of use thereof. In some examples, a braking system may include an input gear, an oscillating plate, and a reaction gear. In some examples, braking the reaction gear can cause the swashplate to knot over the reaction gear. In some examples, each of the swing plates, input gear, and reaction gear may include a set of teeth that have shapes designed to limit eccentric forces.

The features, functions and advantages can be achieved independently in various examples of the present disclosure, or can be combined in still other examples, the details of which can be seen with reference to the following description and drawings.

Brief description of the drawings

Fig. 1 is an isometric exploded view of components of a brake module assembly according to the present disclosure.

Figure 2 is an isometric exploded view of the components shown in Figure 1, viewed from an opposite direction.

Figure 3 is a cross sectional view of two sets of brake modules of the type shown in Figures 1-2, adjacent to each other.

Figure 4 is a cross-sectional view of a portion of an aircraft, including a service brake, four sets of brake modules of the type shown in Figures 1-2, a hub and a wheel, shown assembled.

Figure 5 is a side view of an oscillating plate shown in Figures 1-4.

Figure 6 is a front view of the swing plate shown in Figure 5.

Figure 7 is a rear view of the swing plate shown in Figures 5-6.

Figure 8 is a side view of an input shaft shown in Figures 1-4.

Figure 9 is a rear view of the input shaft shown in Figure 8.

Figure 10 is a front view of the input shaft shown in Figures 8-9.

Figure 11 is a side view of a rotor shaft shown in Figures 1-4.

Figure 12 is a rear view of the rotor shown in Figure 11.

Figure 13 is a front view of the rotor shown in Figures 10-11.

Figure 14 is a front view of a rear case shown in Figures 1-4.

Figure 15 is a rear view of the rear case shown in Figure 14.

Figure 16 is a side view of the rear case shown in Figures 14-15.

Figure 17 is a side view of a front casing shown in Figures 1-4.

Figure 18 is a front view of the front casing shown in Figure 17, with a rear view of the front casing that is similar to Figure 14.

Note that the relative scale differs between the sheets in the drawings, so various details in the drawings are more apparent.

Description

Various examples of apparatus and methods related to an elliptical interface gear assisted braking system are described below and illustrated in the associated drawings. Unless otherwise specified, an apparatus or method and / or its various components may, but are not required to contain at least one of the structures, components, functionalities and / or variations described, illustrated and / or incorporated herein. document. Furthermore, the structures, components, functionalities and / or variations described, illustrated and / or incorporated herein in connection with the present teachings may, but are not required, be included in other similar apparatus or methods. The following description of various examples is they are simply exemplary in nature and in no way intended to limit disclosure, their application or uses. Furthermore, the advantages provided by the examples, as described below, are illustrative in nature and not all examples provide the same advantages or the same degree of advantages.

An example of this braking system or brake module can be seen from different angles in Figures 1 and 2, with a brake module generally indicated as 10. The brake module 10 may include a brake 12, a rotor of ring brake 14 including the reaction gear 16, an input shaft 18, an input gear 20 and an annular oscillating plate 22. The input shaft can extend through the rotor 14 and the input gear 20, with the gear input gear 20 opposite reaction gear 16. Oscillating plate 22 may be positioned between input gear 20 and reaction gear 16.

The input shaft 18 can define an axis of rotation 24, around which the input gear 20 can be centered. The rotor 14 and the reaction gear 16 can be equally concentric with the axis of rotation 24. The oscillating plate 22 can have both a set of oscillating teeth 26 placed on a front face 28 and a set of face teeth 30 placed on an opposite rear face 32. The oscillating plate 22 may be aligned at a non-zero angle with respect to the axis of rotation 24 such that the oscillating plate partially meshes with input gear 20 and reaction gear 16. Rotation of input shaft 18 you can rotate the swashplate 22.

Brake 12 may comprise a brake caliper, as shown, selectively controlling a braking action. The brake can mate with the rotor 14, allowing the brake to slow the rotor relative to the input shaft 18, and thus induce a nutation of the oscillating plate 22 relative to the rotor, dissipating the rotational energy.

The input shaft 18 can extend through the input gear 20 and be directly coupled with the input gear, such that the input shaft forms an integral part of the input gear. In other examples, not shown, the input gear can be formed as a separate part and then coupled to the input shaft. Therefore, a single rotation of the input shaft 18 can result in a single rotation of the input gear 20. Figures 8-10 show the side, front and rear views of the input gear 20.

The input shaft 18 may comprise a first end 34, a second end 36, and a circular cross section best seen in Figure 9. A slot, or male slot 38, may be located at the first end 34 of the input shaft 18 and a mating groove, or the female groove 40 can be located at the second end 36 of the input shaft 18. The input shaft 18 can therefore be formed to mate with a second input shaft to interconnect multiple brake modules as a set.

The input gear 20 may comprise a plurality of input teeth 42 positioned on an annular input surface 44, best seen in FIG. 10. The input surface 44 may be frusto-conical. That is, the annular entry surface 44 can be angled with respect to a plane perpendicular to the axis of rotation 24, so that each point on the annular entry surface includes a frusto-conical line that can extend to a vertex located on the axis Forward and forward rotation of the input gear 20. When the aforementioned elements are assembled in a brake module 10, the frustoconical vertex of the annular input surface 44 may be close to a center of mass of the oscillating plate 22.

A count of the plurality of input teeth 42 can be any appropriate number. In the example represented in Figures 1 and 2, there are 115 inlet teeth. Each input tooth may include two drive faces, and each drive face may be flat, comprised of more than one plane, or may be comprised of one or more curved surfaces.

The rotor 14 may be annular in shape, with a cylindrical inner surface comprising the gear face or the reaction face 46. The reaction face may partially define an interior volume that can be configured to accommodate part or all of the oscillating plate 22 Figures 11-13 show the side, rear and front views of rotor 14.

The rotor 14 can also comprise a front surface 48 and a rear surface 50. A front support collar 52 can be placed on the front surface 48, close to the reaction face 46 and a rear support collar 54 can be placed on the rear surface 50, also close to the reaction face. The rotor 14 can be rotatably mounted on the input shaft 18, so that it is coaxial with the axis of rotation 24. The reaction gear 16, made up of a plurality of reaction teeth 56, can be placed on the face of Reaction 46. The plurality of reaction teeth 56 can extend toward the rear bearing collar 54, parallel to the axis of rotation 24. A count of reaction teeth 56 can be any appropriate number. At Example shown in Figures 1 and 2, there are 46 reaction teeth.

Each tooth of the plurality of reaction teeth 56 may have a proximal end and a distal end relative to the axis of rotation 24, as shown in Figures 1 and 2. The distal end of each reaction tooth 56 may be coupled to reaction face 46. Each tooth may also include a first gear surface and on the opposite side of the tooth there may be a second gear surface. Each gear surface can be flat, made up of more than one plane, or made up of one or more curved surfaces. One or both of the gear surfaces of a reaction tooth 56 can be defined by an involute consisting of a circle and an ellipse, as outlined above. Alternatively, the curve can be the projection of a virtual ellipse at the tooth location for all angles between 0 and 2n radians.

Each tooth of the plurality of reaction teeth 56 may include a gear portion and a support base. The gear portion can include the first gear surface and the second gear surface. The support base can couple the gear portion to the rotor.

It is also shown in Figures 1 and 2, that the brake 12 may include a brake caliper or other braking mechanism capable of slowing down the rotor 14 relative to the input shaft 18. The brake 12 may be attached to an external structure or otherwise mounted so that the brake is matched with the rotor. In the case of an example where the brake includes a brake caliper 62, a front brake pad 58 can be attached to the front surface 48 close to the rotor, and a rear brake pad 60 can be attached to the rear surface 50 next to the rotor. When driven by the brake caliper 62, the front brake pad and rear brake pad can frictionally contact a corresponding front surface 48 and a rear surface 50 of rotor 14 to selectively slow rotation and slow the rotor down. with respect to input tree 18.

Under certain conditions, a loss of traction may occur between brake 12 and rotor 14. For example, if the torque applied to input shaft 18 exceeds a product of force exerted on rotor 14 by brake pads 58, 60 and A coefficient of friction appropriate for materials of the brake pads and the rotor, and the distance from the axis of rotation 24 to a point of contact between the brake pads and the rotor, slipping may occur. In such conditions, the brake module 10 will release the torque load. That is, the rotation of rotor 14 may be restricted, but not impeded. Part of the rotation energy of the input shaft 18 can be dissipated by nutation of the oscillating plate, while the remaining rotation energy can be transmitted to the rotor.

Referring again to Figures 1 and 2, the swing plate 22 may be annular in shape, with a front face 28, a rear face 32, and a center axis, or swing axis 64. The center opening 66 of the swing plate 22 can be configured to receive a portion of the input shaft 18, see, for example, in Figure 3. The oscillating plate 22 can be aligned so that the oscillating axis 64 forms a non-zero angle with the axis of rotation 24. Figures 5 -7 show the side, front and rear views of the swashplate 22.

As shown in Figure 7, the rear face 32 may include an annular oscillating surface 68, which may be a frusto-conical surface. That is, the annular oscillating surface 68 can be angled with respect to a plane perpendicular to the oscillating axis 64, so that each point on the annular oscillating surface includes a frusto-conical line that can extend to a frusto-conical vertex located on the oscillating axis. The frustoconical vertex of the annular oscillating surface 68 may be close to a center of mass of the oscillating plate 22.

A plurality or set of face 30 teeth may be placed on the annular oscillating surface 68. A count of face 30 teeth may be any appropriate number. The face tooth count may be greater than, less than, or equal to the count of the plurality of input teeth 42. In the example shown in Figure 7, there are 115 face teeth. Each face tooth can include two driven faces, which can be flat, made up of more than one plane, or can be made up of one or more curved surfaces. Oscillating plate 22 may be engaged with input gear 20, as shown in FIG. 3. The engagement may be between the plurality of face teeth and input teeth. When the input gear rotates in a given direction of rotation, a drive face of an input tooth can mesh with a driven face of a face tooth. That is, there may be a contact force exerted on the oscillating plate by the input plate through an interaction between the drive faces of the plurality of input teeth and the driven faces of the plurality of face teeth. These contact forces can cause the oscillating plate to rotate in the same direction of rotation given.

In the example of the brake module 10, the input gear 20 has 115 input teeth and the swing plate 22 has 115 face teeth. That is, the input gear and the oscillating plate interact and rotate according to a 1: 1 gear ratio. That is, for each complete rotation of the input gear, the oscillating plate also completes exactly one complete rotation. Other options are possible for the number of input and face teeth, and would result in a different gear ratio.

Oscillating plate 22 and input gear 20 can be configured such that any contact force exerted between the oscillating plate and input gear points in directions that are tangent to circles that are located in planes perpendicular to the axis of rotation. By configuring the swashplate and input gear so that the contact forces between the swashplate and the input gear point in such directions, eccentric forces can be avoided. Eccentric forces can cause the plurality of teeth on face 30 to disengage from the plurality of input teeth 42 or can cause the center of mass of the oscillating plate to oscillate, thereby introducing undesirable vibrations into the brake module system.

Oscillating plate 22 may further comprise a plurality or set of oscillating teeth 26, positioned on front face 28. Oscillating teeth may extend from front face 28 in an axial direction along the oscillating axis. A count of the oscillating teeth 26 can be any appropriate number. The count of the oscillating teeth may be greater than, less than, or equal to the count of the reaction teeth 56. In the example shown in Figure 6, there are 45 oscillating teeth.

Each oscillating tooth 26 may include a first gear surface and on the opposite side of the tooth there may be a second gear surface. Each surface can be flat, made up of more than one plane, or made up of one or more curved surfaces.

One or both of the gear surfaces of an oscillating tooth 26 can be defined by an involute consisting of a circle and an ellipse, as outlined above. Alternatively, the curve can be the projection of a virtual ellipse at the tooth location for all angles between 0 and 2n radians.

Furthermore, each oscillating tooth 26 may include a gear portion and a support base. The gear portion can include the first gear surface and the second gear surface. The support base can connect the gear portion to the front face 28 of the rocker plate 22.

The oscillating plate 22 can be meshed with the reaction gear 16, as shown in Figure 3. The coupling can be between the plurality of oscillating teeth 26 and the reaction teeth 56. If the oscillating plate 22 rotates in a direction of rotation Given, then the first gear surface of an oscillating tooth 26 can mesh with the first gear surface of a reaction tooth 56. That is, there may be a contact force exerted on the reaction gear 16 by the oscillating plate 22 a through an interaction between the first gear surfaces of the plurality of oscillating teeth and the first gear surfaces of the plurality of reaction teeth.

In a case where the brake 12 is not engaged in a braking action on the rotor 14, the reaction gear 16 can freely rotate. The contact force between the oscillating teeth 26 and the reaction teeth 56 can cause the reaction gear 16 and the rotor 14 to rotate in the given direction of rotation.

In a case where the brake 12 engages in a braking action on the rotor 14, the rotation of the rotor can be slowed down relative to the input shaft 18 and the rotation of the reaction gear 16 can be restricted or prevented. The contact force between the oscillating teeth 26 and the reaction teeth 56 can cause the oscillating plate 22 to knot.

In the example of the brake module 10, the reaction gear 16 has 46 reaction teeth and the oscillating plate 22 has 45 oscillating teeth. As the oscillating plate 22 knots around the reaction gear 16, each oscillating tooth 26 can mesh with one tooth on the plurality of reaction teeth 56 during a single nutation. Since there may be more reaction teeth than oscillating teeth, the oscillating plate can rotate slightly during a single nutation. In the example of the brake module 10, the oscillating plate can rotate 1/46 of a complete rotation during a single nutation of the oscillating plate. In other words, if the oscillating plate rotates 1/46 of a full rotation, perhaps due to interaction with the input gear, the oscillating plate can complete a complete nutation. Therefore, the oscillating plate and the reaction gear can interact according to a 46: 1 gear ratio. For every 46 nutations of the swing plate, the swing plate can rotate exactly once. Other options for the number of reaction teeth and oscillating teeth are possible, and would result in a different gear ratio.

The oscillating plate 22 and rotor 14 can be substantially circular in shape, with a projection of the oscillating plate on the rotor that is elliptical in shape. The pluralities of oscillating teeth 26 and reaction teeth 56 can be contoured by projecting this virtual ellipse onto the location of the tooth. The elliptical projection of the oscillating plate 22 on the rotor 14 can therefore be limited to non-eccentric rotation. Eccentric motion, if allowed, can generate large imbalance forces creating unacceptable system performance.

For each tooth of both pluralities of oscillating teeth 26 and reaction teeth 56, one or both of the first gear surface and the second gear surface may be defined by a compound involution by a circle and an ellipse. That is, the curve of the second gear surface can be defined by a first equation:

y = C (tan (p) - y) D

where C is a constant that can be proportional to a radius of the oscillating plate, 9 can take values from 0 to | radians, and D can be a positive constant less than 1. D can have a value of about 0.65, although other values are also possible. The first equation can be normalized to unity.

Alternatively, the curve of the second gear surface can be defined by a second equation:

y = C (sin (p) - ycos (y)) D

where C is a constant that can be proportional to a radius of the oscillating plate, 9 can take values from 0 to | radians, and D can be a positive constant less than 1. D can have a value of about 0.65, although other values are also possible. The second equation can be normalized to a radius of the reaction gear. The curve of the second gear surface can be the projection of a virtual ellipse on the tooth location for all angles between 0 and 2n radians.

The curve of the first gear surface can be a mirror image of the curve of the second gear surface, reflected through a plane through the apex of the tooth and containing the axis of rotation. Furthermore, the first gear surface and the second gear surface can smoothly mate at the apex of each tooth. Therefore, the tooth's cross-sectional shape can be defined by an involute consisting of a circle and an ellipse.

The brake module can be understood as a mechanically constrained system governed by Euler's equations for an oscillating plate, which creates a rotating inertial reference frame. Consider Euler's z-axis equation,

Tz = Izúlz - (Ix - Iy) WxWy

where T is even, I is moment of inertia and w is angular velocity. This equation shows that, depending on the direction of the torque, an axis will undergo an opposite rotation. Torque, or kinetic energy, can enter the system and be accepted as opposite rotations. The net moment is not stored, and all the input energy can be used to change a moment vector of the oscillating plate 22.

As previously described, the oscillating teeth 26 and reaction teeth 56 can be configured to provide a mechanical restriction on the movement of the oscillating plate 22. A relationship between the input torque, the kinetic energy of the oscillating plate 22 and the rotational torque of rotor 14 under that mechanical constraint can be expressed as

sin (20) Tz = Iztáz-Ix ^ z2

where 0 is the angle between the oscillating axis 64 and the axis of rotation 24, and Tz is the torque input by rotating the input gear 20.

Two other factors may contribute, the torque ratio and friction. The torque ratio is the result of an Euler requirement that for every 40 nutation, the oscillating plate 22 must also rotate for an oscillating tooth 26. The gear ratio can be converted to a torque ratio by dividing the nutation by the increment rotational represented by the gear ratio, or angular width, of an oscillating tooth. The torque ratio of system 46

can be written as - where GR is the gear ratio between the reaction gear 16 and the oscillating plate 22.

Due to a linear relationship to velocity, friction can scale with the angular velocity of oscillating plate 22. A governing equation for the system can be written as

sin (20) Tz (1-j (^ GR) wz) = IzWz Ix (46 GR) wz2

where p is an appropriate coefficient of friction between oscillating teeth 26 and reaction teeth 56.

The brake module system can also be considered in terms of the virtual ellipse formed by projecting the oscillating plate on the rotor. The oscillating plate 22 and rotor 14 can generally have a contact point. An edge of the virtual ellipse can define in three dimensions a continuous contact line of the oscillating plate and the elliptical interface rotor. The shape of the virtual ellipse can remain unchanged under an oscillating plate nutation spanning four times the angle between the oscillating axis 64 and the axis of rotation 24. Only the rotation frame of the contact line, defined by Euler, may advance as nutation occurs. Each point on the line of contact can fall on a geometrically compounded involute function, and the function can be symmetric in both rotation and nutation, allowing continuous energy transfer to and from the virtual ellipse.

The virtual ellipse can be static as the inertial frame rotates, with all points on the contact line rotating in its own horizontal plane at a constant angular velocity. A point on a radial edge of oscillating plate 22 seen during nutation can exhibit vertical movement with a constantly changing speed. This change in velocity may require a constant acceleration of the inertia of the oscillating plate, absorbing the input of kinetic energy into the system.

Referring again to Figures 1 and 2, the brake module 10 may further comprise a housing 70 to facilitate installation, support continuous correct placement and interface between parts, and protect gear mechanisms from external influences. Any appropriate housing can be used for the intended use of the brake module, in some cases allowing the connection of an additional plurality of brake modules. The casing 70 may comprise a front casing 72 and a rear casing 74, each with an appropriate annular shape to accommodate one end of the input shaft 18. The front casing 72 may include one or more locking tabs 76 extending from the front, or the mating face 78, which can best be seen in Figures 17 and 18. The rear housing 74 may include a corresponding number of reed bushings 80 embedded in its rear part, or the mating face 82, which can be seen in Figure 15. Locking tabs 76 and tab bushings 80 may correspond in shape and location. Furthermore, the locking tabs 76 and the tab bushings 80 face in opposite directions, so that a front casing 72 can mate with a corresponding rear casing 74, when two similar brake modules are connected to each other, as shown in figure 4.

The front housing 72 may further comprise a second face with an internal support collar 84 and an external support collar 86. The rear housing 74 may also comprise an internal support collar 88 and an external support collar 90 on a second face.

Referring again to Figures 1 and 2, an appropriately sized annular front axle bearing 92 can be mounted on input shaft 18. Front axle bearing 92 can be mounted near the first end 34 of input shaft 18 and the male groove 38. The front housing 72 can be mounted on the front axle bearing 92 so that the bearing fits within the inner bearing collar 84 of the front housing.

An annular rear axle bearing 94 of the appropriate size can also be mounted on the input shaft 18. The rear axle bearing 94 can be mounted near the second end 36 of the input shaft 18 and the female groove 40. The rear housing 74 It can be mounted on the rear axle bearing 94 so that the bearing fits within the inner bearing collar 88 of the rear housing.

A front rotor bearing 96 can be mounted in the front housing 72 such that the bearing fits around the outer bearing collar 86 of the front housing. A rear rotor bearing 98 can be mounted on the rear housing 74 so that the bearing fits around the collar of the outer bearing 90 of the rear housing. The front rotor bearings and the rear rotor bearings may each have an appropriate annular shape to mate with a corresponding bearing collar on the rotor 14.

The rotor 14 can then be mounted on both the front rotor bearing 96 and the rear rotor bearing 98, so that the front rotor bearing fits within the collar of the rotor front bearing 52 and the rear rotor bearing fits inside the rotor rear bearing collar 54.

In some examples, the front housing 72 can be mounted near the first end 34 of the input shaft 18 and the male groove 38. The rear housing 74 can be mounted near the second end 36 of the input shaft and the female groove 40. Bearing The front rotor 96 can then be mounted on the front housing 72 and the rear rotor bearing 98 can be mounted on the rear housing 74. The rotor 14 can be mounted on the front rotor bearing 96 and the rear rotor bearing 98.

In other examples, the first annular housing 72 can be mounted on the first annular bearing 92, and shaped to fit a corresponding first portion of the annular brake rotor 14, and the second annular housing 74 can be mounted on the second annular bearing 94, and be shaped to fit a corresponding second portion of the annular brake rotor 14.

For example, the front housing 72 and the rear housing 74 may each include a flat portion on a radial edge that corresponds in length to a raised area on the rotor 14. When assembled, the flat portions of the housings may abut with the raised area of the rotor 14 without making contact, but close enough to inhibit the admission of dust or sand.

When the brake module 10 is assembled as shown in Figure 3, the swing plate 22 can be enclosed in an annular cavity defined by: front housing 72, front axle bearing 92, front rotor bearing 96, rotor 14, axle shaft inlet 18, rear rotor bearing 98, rear axle bearing 94 and rear housing 74. The oscillating plate 22 may be trapped between the rotor 14 and the input shaft 18. A radial edge of the rotor 14 may extend beyond the housing front and rear housing so brake 12 can mate with rotor. The front housing 72 can define a plane perpendicular to the axis of rotation 24 and parallel to a substantially flat extension of the mating face 78. The rear housing 74 can similarly define a plane parallel to an extension of the mating face 82. The rotor 14 and the oscillating plate 22 can be positioned between the plane of the front housing 72 and the plane of the rear housing 74.

As shown in Figure 3, the planes of the front shell 72 and the back shell 74 can define a volume that extends from a radial edge to an opposite radial edge of each shell. The brake 12 can be paired with the rotor 14 external to the volume thus defined. Any extension of the brake 12 in the axial direction from a point of contact with the rotor 14 can be limited to less than twice the axial distance from the point of contact to the plane of the rear housing 74.

Also shown in Figure 3 is a second brake module 110 that can be connected to the brake module 10. The elements of the second brake module 110 are labeled using reference characters similar to those used previously, but with an added "1". Therefore, a male slot 138 of module 110 can mate with female slot 40 of module 10. This pairing can directly couple the two input shafts so that a single rotation of input shaft 18 can result in a single rotation. from input tree 118.

The two modules may be mutually oriented in a manner that allows the locking tabs 176 in the front housing 172 of the module 110 to mate with the corresponding tab bushings 80 of the rear housing 74 of the module 10, locking the two housings together. .

The brake 112 of the module 110 can mate with the rotor 114 radially opposite to the brake 12 of the module 10, with respect to a shared axis of rotation. As depicted in FIG. 4, this orientation can allow rotor 14 to rotate without interference from brake 112, and similarly allow rotor 114 to avoid interference from brake 12.

An additional plurality of modules can be connected as described to form an assembly. A module can also be connected in a similar way to other mechanisms involved in braking. A module or a plurality of modules can be connected to a rotating object in order to decelerate the object.

Referring to Figure 4, a set of brake modules installed in an aircraft is shown. Four similar brake modules connected as described above are shown. As before, the elements of a third brake module 210 are labeled with reference characters similar to those used previously, but with an added "2". Similarly, the elements of a fourth brake module 310 are labeled using reference characters similar to those used previously, but with an added "3". The assembly can be installed on an aircraft or vehicle of any type where it would be advantageous to provide braking with minimal thermal output.

The male slot 38 of the input shaft 18 of a brake module 10 can be mated with a corresponding structure in a wheel 100 that movably supports an aircraft. The input shaft 18 and the wheel 100 can thus be coupled to rotate coaxially about an axis of rotation defined by the wheel. Wheel 100 may be attached to a cell or other part of the aircraft, and brake 12 of module 10 may also be attached to the cell.

Male slot 138 of input shaft 118 of a brake module 110 may mate with female slot 40 of input shaft 18 of module 10. Brake 112 may be mounted in the cell in a position radially opposite to brake 12, and mate with the rotor 114 to selectively brake the rotation of the rotor with respect to the wheel 100. The locking tabs 176 of the front housing 172 of the module 110 can be locked with the tab bushings 80 of the rear housing 74 of the module 10. The modules Brake 210 and 310 can be similarly connected, and the four input shafts can rotate coaxially with wheel 100.

A service shaft 418 with male slot 438 can be additionally mated to female slot 340 of the input shaft 318 of module 310. Service shaft 418 can thus be operatively attached to wheel 100 concentric with the shared axis of rotation. A service rotor 414 can be attached to service shaft 418, and a service brake 412 can be attached to the cell such that the brake can mate with the service rotor. Selective braking action by brake 412 can stop rotation of rotor 414, and thus stop rotation of wheel 100.

A front service shaft bearing 492 and rear service shaft bearing 494 can be mounted on service shaft 418. A front service housing 472 can be mounted on front service shaft bearing 492, and the front surface of the Front service housing 478 may have locking tabs 476 corresponding to tongue bushings 380 in rear housing 374 of brake module 310. Front service housing 472 can thereby be locked to rear housing 374 of brake module 310.

As shown in Figure 4, an outer casing can be provided to enclose the service shaft 418 and the plurality of input shafts of the braking module. A front outer shell 106 may be annular in shape, with an appropriate inner radius to accommodate the mating of the male groove 38 of the brake module 10 and the corresponding structure in the wheel 100. The outer radius may coincide with that of the housing 70 of the module 10, or be of any other appropriate size. A rear surface of the front outer casing 106 may have recessed tab bushings corresponding to the locking tabs 76 on the mating face 78 of the front casing 72 of the module 10. The front outer casing 106 can thereby be locked to the casing. front 72 and be located between module 10 and wheel 100.

A rear outer shell 108 may be cylindrical in shape, with a central recess to accommodate the unpaired end of the service shaft. The rear outer shell 108 may be mounted on the rear service shaft bearing 494. The outer radius of the shell 108 may match that of the front outer shell 106, or be of any other appropriate size. Additional features or alternate shapes can be used to facilitate assembly installation.

In an alternative example, not shown, the brake 12 may comprise a band brake. A loop of friction material can be adjustably attached to an external support, where the actuation of the brake shortens the length of the loop. The friction material loop may be positioned near a radial outer edge of the rotor 14, and surround most of the rotor's circumference. The actuation of the brake can therefore bring the loop material into contact by friction with the radial edge of the rotor 14, slowing down the rotor with respect to the input shaft 18. Similar variations could create yet another example, substituting some other type of brake mechanism that can operate directly on the brake rotor 14, such as a drum brake, by the brake caliper shown in the drawings.

Other examples may include assemblies with only two brake modules, or three brake modules and a service brake, or two brake modules at each end of a service brake, or any other combination thereof.

In addition, the disclosure includes achievements according to the following clauses:

A1. A brake module comprising: a brake to selectively control a braking action; an annular brake rotor that mates with the brake, the annular brake rotor including a gear face with a reaction gear; an input shaft with an input gear surrounding a shaft, with the shaft extending through the annular brake rotor so that the input gear opposes the reaction gear; and an annular oscillating plate trapped between the annular brake rotor and input shaft, with a first face having teeth on the face that partially mesh with the input gear, and with a second face having oscillating teeth that mesh partially with the reaction gear; wherein rotation of the input shaft causes the annular brake rotor and oscillating plate to rotate; and wherein a braking action by the brake slows down the annular brake rotor relative to the input shaft, inducing nutation of the annular oscillating plate relative to the annular brake rotor and input shaft to dissipate rotation energy.

A2. The brake module of clause A1, further comprising a slot and a mating slot at opposite ends of the input shaft; wherein the input shaft is formed to mate with a second input shaft to interconnect multiple brake modules as a whole. A3. The brake module of clause A1 or a 2, wherein: at least one of the oscillating teeth on the annular oscillating plate has a cross-sectional shape at least partially defined by an involute consisting of a circle and an ellipse; and the reaction gear is defined by a plurality of reaction teeth, and at least one of the plurality of reaction teeth has a cross-sectional shape, at least partially defined by an involute consisting of a circle and an ellipse.

A4. The brake module of any preceding clause, wherein the face teeth on the annular oscillating plate, opposite the oscillating teeth, define an annular oscillating surface that is frustoconical.

TO 5. The brake module of clause A4, wherein the annular oscillating surface is configured such that a center of mass of the annular oscillating plate is a vertex of the annular oscillating surface.

A6. The brake module of any preceding clause, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing, and shaped to fit a corresponding first portion of the annular brake rotor; and a second annular housing mounted on the second annular bearing, and formed to conform to a corresponding second portion of the annular brake rotor; wherein the annular swing plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the annular brake rotor, the second annular housing, and the second annular bearing.

A7. The brake module of any preceding clause, further comprising: a first annular housing mounted on the input shaft; a second annular housing mounted on the input shaft; a first annular bearing mounted on the first annular housing; a second annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the first annular bearing and the second annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular housing, the first annular bearing, the annular brake rotor, the second annular bearing, and the second annular housing.

A8. The brake module of any preceding clause, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing; a third annular bearing mounted on the first annular housing; a second annular housing mounted on the second annular bearing; and a fourth annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the third annular bearing and the fourth annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the third annular bearing, the annular brake rotor, the fourth annular bearing, the second annular housing , and the second annular bearing.

A9. The brake module of any preceding clause, further comprising: a first annular housing mounted on the input shaft, defining a foreground; and a second annular casing mounted on the input shaft, which defines a second plane; wherein: the annular brake rotor and the annular oscillating plate are located between the first plane and the second plane; the first annular housing includes at least one socket; the second annular casing includes at least one locking tab, corresponding in shape and location to at least one socket; and the at least one socket and the at least one locking tongue face in opposite directions. A10. A vehicle comprising the brake module of any preceding clause, and further comprising: a wheel attached to the input shaft and rotatable about an axis of rotation; and a cell attached to the wheel and brake.

A11. The vehicle of clause A10, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove coupled with the wheel; a second input shaft with a second groove paired with the mating groove so that the second input shaft is operatively fixed to the wheel concentric with the axis of rotation, and with a second input gear concentric with the axis of rotation; a second brake rotor rotatably mounted on the second input shaft so that the second brake rotor is coaxial about the axis of rotation; a second brake attached to the cell and paired with the second brake rotor to selectively brake the rotation of the second brake rotor with respect to the wheel; a second reaction gear attached to the second brake rotor, concentric with the axis of rotation; and a second oscillating plate trapped between the second input gear and the second reaction gear, and includes the teeth on the second face that partially mesh with the second input gear, and includes the second opposing oscillating teeth that partially mesh with the second reaction gear; wherein the second swing plate is axially constrained with respect to the axis of rotation so that the second swing plate is knotted at a non-zero angle relative to the axis of rotation when the second brake rotor is braked relative to the wheel. A12. The vehicle of clause A10, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove coupled with the wheel; a service shaft with a second groove paired with the mating groove so that the service shaft is operatively attached to the wheel concentric with the axis of rotation, and with a service rotor attached to the service shaft concentric with the axis of rotation rotation; and a service brake attached to the vehicle and paired with the service rotor to selectively stop the rotation of the service rotor and thus stop the wheel rotation.

A13. A brake module comprising: an input shaft with an input gear surrounding a shaft, the shaft including a slot that mates with a corresponding rotating object; an annular brake rotor rotatably mounted on the shaft, the annular brake rotor including a reaction gear that is oriented towards the input gear; an annular oscillating plate mounted on the shaft and trapped between the input gear and the reaction gear, with a first face having teeth on the face that partially mesh with the input gear, and with a second face having oscillating teeth that partially mesh with the reaction gear; and a brake attached to an external structure and paired with the annular brake rotor to selectively brake the annular brake rotor; wherein rotation of the input shaft causes the annular oscillating plate to rotate; and wherein a braking action by the brake slows down the annular brake rotor relative to the input shaft, thereby inducing nutation of the annular oscillating plate relative to the annular brake rotor and input shaft to dissipate the energy of rotation.

A14. The brake module of clause A13, further comprising a mating groove in the entrance opposite the slot; wherein the input shaft is formed to mate with a second input shaft to interconnect multiple brake modules as a whole.

A15. The brake module of clauses A13 or A14, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing, and shaped to fit with a corresponding first portion of the annular brake rotor; and a second annular housing mounted on the second annular bearing, and shaped to fit a corresponding second portion of the annular brake rotor; wherein the annular swing plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the annular brake rotor, the second annular housing, and the second annular bearing.

A16. The brake module according to any of clauses A13 to A15, further comprising: a first annular housing mounted on the input shaft; a second annular housing mounted on the input shaft; a first annular bearing mounted on the first annular housing; and a second annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the first annular bearing and the second annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular housing, the first annular bearing, the annular brake rotor, the second annular bearing, and the second annular housing.

A17. A method of decelerating a rotating object, comprising the following steps: providing an input gear; providing a brake rotor with a reaction gear; providing an oscillating plate with face teeth shaped to partially mesh with the input gear, and with opposite oscillating teeth shaped to partially mesh with the reaction gear; fixing the input gear to the rotating object so that the input gear is centered around an axis of rotation of the rotating object; suspend the swing plate at a non-zero angle to the axis of rotation, with at least one of the teeth on the face engaging the input gear; suspending the brake rotor concentric with the axis of rotation, and with at least one of the oscillating teeth meshing with the reaction gear; and braking the brake rotor to cause the swing plate to knot around the axis of rotation.

A18. The method of clause A17, further comprising the following steps: providing an input shaft as an integral part of the input gear; providing an annular housing formed to mount to the input shaft and at least partially enclose the swing plate; rotatably supporting the annular housing on the input shaft; and rotatably supports the brake rotor in the annular housing.

A19. The method of clause A18, further comprising the following steps: providing a second input shaft that matches the input shaft, the second input shaft including a second input gear; providing a second brake rotor with a second reaction gear; providing a second oscillating plate with teeth on the second face that partially mesh with the second input gear, and with second opposing oscillating teeth that partially mesh with the second reaction gear; match the second input tree to the input tree; Suspend the second swing plate at a non-zero angle to the axis of rotation, with at least one of the second face teeth engaging the second input gear, and with at least one of the second swing teeth engaging the second reaction gear; and braking the second brake rotor to cause the second swing plate to knot around the axis of rotation.

TO 20. The method of clause A19, further comprising the following steps: providing a service rotor that matches the input shaft; and braking the service rotor to selectively stop the rotation of the service rotor and thus stop the rotation of the rotating object.

B1. A brake module comprising: a brake to selectively control a braking action; an annular brake rotor that mates with the brake, the annular brake rotor including a gear face with a reaction gear; an input shaft with an input gear surrounding a shaft, with the shaft extending through the annular brake rotor so that the input gear opposes the reaction gear; and an annular oscillating plate trapped between the annular brake rotor and input shaft, with a first face having teeth on the face that partially mesh with the input gear, and with a second face having oscillating teeth that mesh partially with the reaction gear; such that rotation of the input shaft causes the annular brake rotor and oscillating plate to rotate; and such that a braking action by the brake slows down the annular brake rotor relative to the input shaft, thereby inducing nutation of the annular oscillating plate relative to the annular brake rotor and input shaft to dissipate rotation energy.

B2. The brake module of clause B1, further comprising a slot and a mating slot at opposite ends of the input shaft; wherein the input shaft is formed to mate with a second input shaft to interconnect multiple brake modules as a whole.

B3. The brake module of any B1 or B2, wherein: at least one of the oscillating teeth on the annular oscillating plate has a cross-sectional shape at least partially defined by an involute consisting of a circle and an ellipse; and the reaction gear is defined by a plurality of reaction teeth, and at least one of the plurality of reaction teeth has a cross-sectional shape at least partially defined by an involute consisting of a circle and an ellipse. B4. The brake module according to any of clauses B1 to B3, in which the teeth of the face of the annular oscillating plate, opposite to the oscillating teeth, define an annular oscillating surface that is frustoconical.

B5. The brake module of clause B4, wherein the annular oscillating surface is configured such that a center of mass of the annular oscillating plate is a vertex of the annular oscillating surface.

B6. The brake module according to any of clauses B1 to B5, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing, and shaped to fit a corresponding first portion of the annular brake rotor; and a second annular housing mounted on the second annular bearing, and shaped to fit a corresponding second portion of the annular brake rotor; wherein the annular swing plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the annular brake rotor, the second annular housing, and the second annular bearing.

B7. The brake module according to any of clauses B1 to B5, further comprising: a first annular housing mounted on the input shaft; a second annular housing mounted on the input shaft; a first annular bearing mounted on the first annular housing; a second annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the first annular bearing and the second annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular housing, the first annular bearing, the annular brake rotor, the second annular bearing, and the second annular housing.

B8. The brake module according to any of clauses B1 to B5, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing; a third annular bearing mounted on the first annular housing; a second annular housing mounted on the second annular bearing; and a fourth annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the third annular bearing and the fourth annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the third annular bearing, the annular brake rotor, the fourth annular bearing, the second annular housing , and the second annular bearing.

B9. The brake module according to any of clauses B1 to B5, further comprising: a first annular housing mounted on the input shaft, defining a foreground; and a second annular casing mounted on the input shaft, which defines a second plane; wherein: the annular brake rotor and the annular oscillating plate are located between the first plane and the second plane; the first annular housing includes at least one socket; the second annular casing includes at least one locking tab, corresponding in shape and location to at least one socket; and the at least one socket and the at least one locking tongue face in opposite directions.

B10. A vehicle comprising the brake module according to any of clauses B1 to B9, and further comprising: a wheel attached to the input shaft and rotatable about an axis of rotation; and a cell attached to the wheel and brake.

B11. The vehicle of clause B10, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove coupled with the wheel; a second input shaft with a second groove paired with the mating groove so that the second input shaft is operatively fixed to the wheel concentric with the axis of rotation, and with a second input gear concentric with the axis of rotation; a second brake rotor rotatably mounted on the second input shaft so that the second brake rotor is coaxial about the axis of rotation; a second brake attached to the cell and paired with the second brake rotor to selectively brake the rotation of the second brake rotor with respect to the wheel; a second reaction gear attached to the second brake rotor, concentric with the axis of rotation; and a second oscillating plate trapped between the second input gear and the second reaction gear, and includes the teeth on the second face that partially mesh with the second input gear, and includes the second opposing oscillating teeth that partially mesh with the second reaction gear; wherein the second swing plate is axially constrained with respect to the axis of rotation so that the second swing plate is knotted at a non-zero angle relative to the axis of rotation when the second brake rotor is braked relative to the wheel. B12. The vehicle of clause B10, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove coupled with the wheel; a service shaft with a second groove paired with the mating groove so that the service shaft is operatively attached to the wheel concentric with the axis of rotation, and with a service rotor attached to the service shaft concentric with the axis of rotation rotation; and a service brake attached to the vehicle and paired with the service rotor to selectively stop the rotation of the service rotor and thus stop the wheel rotation.

B13. A brake module comprising: an input shaft with an input gear surrounding a shaft, the shaft including a slot that mates with a corresponding rotating object; an annular brake rotor rotatably mounted on the shaft, the annular brake rotor including a reaction gear that is oriented towards the input gear; an annular oscillating plate mounted on the shaft and trapped between the input gear and the reaction gear, with a first face having teeth on the face that partially mesh with the input gear, and with a second face having oscillating teeth that partially mesh with the reaction gear; and a brake attached to an external structure and paired with the annular brake rotor to selectively brake the annular brake rotor; such that rotation of the input shaft causes the annular oscillating plate to rotate; and such that a braking action by the brake slows down the annular brake rotor relative to the input shaft, thereby inducing nutation of the annular oscillating plate relative to the annular brake rotor and input shaft to dissipate the energy of rotation.

B14. The brake module of clause B13, further comprising a mating groove in the input shaft opposite the groove; in which the input tree is formed to mate with a second input to interconnect multiple brake modules as a set.

B15. The brake module of clauses B13 or B14, further comprising: a first annular bearing mounted on the input shaft; a second annular bearing mounted on the input shaft; a first annular housing mounted on the first annular bearing, and shaped to fit with a corresponding first portion of the annular brake rotor; and a second annular housing mounted on the second annular bearing, and shaped to fit a corresponding second portion of the annular brake rotor; wherein the annular swing plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular bearing, the first annular housing, the annular brake rotor, the second annular housing, and the second annular bearing.

B16. The brake module according to any of clauses B13 to B14, further comprising: a first annular housing mounted on the input shaft; a second annular housing mounted on the input shaft; a first annular bearing mounted on the first annular housing; and a second annular bearing mounted on the second annular housing; wherein: the annular brake rotor is mounted on both the first annular bearing and the second annular bearing; and the annular oscillating plate is enclosed in an annular cavity defined between an input shaft assembly, the first annular housing, the first annular bearing, the annular brake rotor, the second annular bearing, and the second annular housing.

B17. A method of decelerating a rotating object using a brake module comprising: an input gear; a brake rotor with a reaction gear; an oscillating plate with face teeth shaped to partially mesh with the input gear, and with opposite oscillating teeth shaped to partially mesh with the reaction gear; wherein: the input gear is fixed to the rotating object such that the input gear is centered around an axis of rotation of the rotating object; the oscillating plate is suspended at a non-zero angle with respect to the axis of rotation, with at least one of the teeth on the face meshing with the input gear; and the brake rotor is suspended concentric with the axis of rotation, and with at least one of the oscillating teeth that meshes with the reaction gear; understanding the method: brake the brake rotor to make the swing plate knot around the axis of rotation.

B18. The method of clause B17, wherein the brake module comprises: an input shaft that forms an integral part of the input gear; and an annular casing shaped to mount to the input shaft and at least partially enclose the swing plate; and wherein: the annular casing is rotatably supported on the input shaft; and the brake rotor is rotatably supported in the annular housing.

B19. The method of clause Bl8, wherein the brake module comprises: a second input shaft that mates with the input shaft, the second input shaft including a second input gear; a second brake rotor with a second reaction gear; and a second oscillating plate with second face teeth partially meshing with the second input gear, and with opposite second oscillating teeth partially meshing with the second reaction gear; and in which: the second input tree is paired with the input tree; and the second oscillating plate is suspended at a non-zero angle with respect to the axis of rotation, with at least one of the second teeth on the face meshing with the second input gear, and with at least one of the second teeth oscillating gears with the second reaction gear; and the method further comprises: braking the second brake rotor to cause the second swing plate to knot around the axis of rotation.

B20. The method of clause B19, wherein the brake module comprises: a service rotor that mates with the input shaft; and the method further comprises: braking the service rotor to selectively stop the rotation of the service rotor, and therefore stop the rotation of the rotating object.

Advantages, characteristics, benefits

The different examples of the elliptical interface gear-assisted braking system described herein provide several advantages over the known solutions for friction braking. For example, the illustrative examples of the braking system described herein allow most of the rotational energy to dissipate without generating thermal output. In addition, and among other benefits, illustrative examples of the braking system described herein allow passive anti-slip functionality by automatically releasing the torque load when loss of traction occurs. No known system or device can perform these functions, particularly in such a small volume. Therefore, the illustrative examples described herein are particularly useful for aircraft and other vehicles that require high performance braking systems that are also lightweight and compact. However, not all of the examples described herein provide the same advantages or the same degree of advantage.

conclusion

The disclosure set forth above may encompass multiple different devices with independent utility. Although examples of each of these devices have been disclosed, specific examples thereof as disclosed and illustrated herein should not be construed in a limiting sense, because numerous variations are possible. To the extent that section headings are used within this disclosure, such headings are for organizational purposes only and do not constitute a characterization of any claims.

Claims (15)

1. A brake module comprising: a brake to selectively control a braking action; an annular brake rotor (14) that mates with the brake, the annular brake rotor including a gear face with a reaction gear (16); an input shaft (18) with an input gear (20) surrounding a shaft, the shaft extending through the annular brake rotor so that the input gear opposes the reaction gear (16); and an annular oscillating plate (22) caught between the annular brake rotor (14) and the input shaft, with a first face having front teeth (30) that partially mesh with the input gear, and with a second face having oscillating teeth (26) that partially meshes with the reaction gear; wherein the rotation of the input shaft (18) causes the annular brake rotor and the oscillating plate to rotate; and wherein a braking action by the brake reduces the speed of the annular brake rotor relative to the input shaft, thereby inducing nutation of the annular oscillating plate (22) relative to the annular brake rotor and shaft input to dissipate rotational energy. 2. The brake module according to claim 1, further comprising a slot and a mating slot at opposite ends of the input shaft; wherein the input shaft is formed to mate with a second input shaft to interconnect multiple brake modules as a whole. 3. The brake module according to claim 1 or 2, wherein: at least one of the oscillating teeth (26) on the annular oscillating plate (22) has a cross-sectional shape at least partially defined by an involute consisting of a circle and an ellipse; and the reaction gear (16) is defined by a plurality of reaction teeth (56), and at least one of the plurality of reaction teeth (56) has a cross-sectional shape, at least partially defined by a composite involute by a circle and an ellipse. The brake module according to any of the preceding claims, wherein the teeth of the face (30) on the annular oscillating plate (22), opposite to the oscillating teeth (26), define an annular oscillating surface (68) which is frusto-conical, and in which the annular oscillating surface is configured such that a center of mass of the annular oscillating plate is a vertex of the annular oscillating surface. 5. The brake module according to any preceding claim, further comprising: a first annular bearing (92) mounted on the input shaft (18); a second annular bearing (94) mounted on the input shaft (18); a first annular housing (72) mounted on the first annular bearing, and shaped to fit with a corresponding first portion of the annular brake rotor (14); and a second annular housing (74) mounted on the second annular bearing, and shaped to fit a corresponding second portion of the annular brake rotor; wherein the annular oscillating plate (22) is enclosed in an annular cavity defined between an input shaft assembly (18), the first annular bearing, the first annular housing, the annular brake rotor, the second annular housing and the second annular bearing. 6. The brake module according to any of claims 1 to 4, further comprising: a first annular casing (72) mounted on the input shaft (18); a second annular housing (74) mounted on the input shaft; a first annular bearing (92) mounted on the first annular housing: (72) a second annular bearing (94) mounted on the second annular housing; in which: the annular brake rotor (14) is mounted on both the first annular bearing and the second annular bearing; and the annular oscillating plate (22) is enclosed in an annular cavity defined between an input shaft assembly, the first annular housing (72), the first annular bearing (92), the annular brake rotor (14), the second annular bearing (94), and the second annular housing (74). 7. The brake module according to any of claims 1 to 4, further comprising: a first annular bearing mounted on the input shaft (18); a second annular bearing mounted on the input shaft (18); a first annular housing (72) mounted on the first annular bearing (92); a third annular bearing mounted on the first annular housing; a second annular housing mounted on the second annular bearing; and a fourth annular bearing mounted on the second annular housing; in which: the annular brake rotor (14) is mounted on both the third annular bearing and the fourth annular bearing; and the annular oscillating plate (22) is enclosed in an annular cavity defined between an input shaft assembly (18), the first annular bearing, the first annular housing, the third annular bearing, the annular brake rotor, the fourth bearing ring, the second ring housing and the second ring bearing. 8. The brake module according to any of claims 1 to 4, further comprising: a first annular casing (72) mounted on the input shaft, which defines a first plane; and a second annular casing mounted on the input shaft, which defines a second plane; in which: the annular brake rotor (14) and the annular oscillating plate (22) are located between the first plane and the second plane; the first annular casing (72) includes at least one socket; the second annular casing (74) includes at least one locking tab, corresponding in shape and location to the at least one socket; and the at least one socket and the at least one locking tab face each other in opposite directions. 9. A vehicle comprising the brake module according to any preceding claim, and further comprising: a wheel (100) attached to the input shaft and rotatable about an axis of rotation (24); and a cell attached to the wheel and brake. 10. The vehicle according to claim 9, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove paired with the wheel; a second input shaft with a second groove paired with the mating groove so that the second input shaft is operatively fixed to the wheel (100) concentric with the axis of rotation (24), and with a second concentric input gear with the axis of rotation; a second brake rotor (14) rotatably mounted on the second input shaft so that the second brake rotor is coaxial about the axis of rotation; a second brake attached to the cell and paired with the second brake rotor to selectively brake the rotation of the second brake rotor with respect to the wheel; a second reaction gear attached to the second brake rotor, concentric with the axis of rotation; and a second oscillating plate (22) caught between the second input gear and the second reaction gear, and including second face teeth that partially mesh with the second input gear, and includes opposed second oscillating teeth which they partially mesh with the second reaction gear; wherein the second swing plate is axially constrained with respect to the axis of rotation so that the second swing plate is numbered at a non-zero angle relative to the axis of rotation when the second brake rotor is braked relative to the wheel. 11. The vehicle according to claim 9, further comprising: a groove and a mating groove at opposite ends of the input shaft, with the groove paired with the wheel (100); a service shaft (418) with a second groove paired with the mating groove so that the service shaft is operatively attached to the wheel concentric with the axis of rotation (24), and with a service rotor (414) attached to the concentric service shaft with the axis of rotation; and a service brake (412) attached to the vehicle and paired with the service rotor to selectively stop the rotation of the service rotor and thus stop the wheel rotation. 12. A method of decelerating a rotating object using a brake module comprising: an input gear; a brake rotor (14) with a reaction gear (16); an oscillating plate (22) with face teeth (30) formed to partially mesh with the input gear, and with opposite oscillating teeth (26) formed to partially mesh with the input gear reaction; in which the input gear is fixed to the rotating object so that the input gear is centered around an axis of rotation (24) of the rotating object; the oscillating plate is suspended at a non-zero angle with respect to the axis of rotation, with at least one of the teeth on the face meshing with the input gear; and the brake rotor is suspended concentric with the axis of rotation, and with at least one of the oscillating teeth that meshes with the reaction gear; understanding the method: brake the brake rotor to make the oscillating plate nutate around the axis of rotation. 13. The method according to claim 12, wherein the brake module comprises: an input shaft that is an integral part of the input gear; and an annular housing formed to mount on the input shaft and at least partially enclose the swing plate (22); and in which: the annular casing is rotatably supported on the input shaft; and the brake rotor (14) is rotatably supported in the annular housing. 14. The method according to claim 13, wherein the brake module comprises: a second input shaft that pairs with the input shaft, the second input shaft including a second input gear; a second brake rotor (14) with a second reaction gear (16); and a second oscillating plate (22) with second face teeth (30) partially meshing with the second input gear, and with opposite second oscillating teeth (26) partially meshing with the second reaction gear; and in which: the second input tree is paired to the input tree; The second oscillating plate is suspended at a non-zero angle with respect to the axis of rotation (24), with at least one of the second teeth on the face that meshes with the second input gear, and with at least one of the second oscillating teeth that meshes with the second reaction gear; and the method further comprises: brake the second brake rotor to make the second oscillating plate nutate around the axis of rotation. 15. The method according to claim 14, wherein the brake module comprises: a service rotor (414) that mates with the input shaft; and the method further comprises: brake the service rotor to selectively stop the rotation of the service rotor, and therefore stop the rotation of the rotating object.